#ifndef	_speed_
#define _speed_
#include <avr/io.h>
#include "FreeRTOS_physical.h"
#include "define.h"



#define	LEFT_SPEED	OCR3AL //PE3
#define RIGHT_SPEED	OCR3BL //PE4
#define	DC3_SPEED	OCR3CL //PE5
#define	DC4_SPEED	OCR0   //PB4
#define	DC5_SPEED	OCR2   //PB7

#define	DC_LEFT_FORWARD		0x08
#define DC_LEFT_BACK		0xf7

#define	DC_RIGHT_FORWARD	0x10
#define DC_RIGHT_BACK		0xef

#define	DC_3_FORWARD		0x20
#define DC_3_BACK			0xdf

#define	DC_4_FORWARD		0x40
#define DC_4_BACK			0xbf

#define	DC_5_FORWARD		0x80
#define DC_5_BACK			0x7f

//------------------------------------

#define V1_FORWARD 		0x40
#define V1_BACK 		0xbf

#define V2_FORWARD 		0x10
#define	V2_BACK 		0xef

#define V3_FORWARD		0x04
#define V3_BACK 		0xfb

#define V4_FORWARD		0x01
#define V4_BACK			0xfe




void speed(int left_speed, int right_speed);


#endif
